Example dataset

Two separate handheld Livox Mid-360 sessions in the same building, ~70 minutes apart: the prior map (3 cm voxel-downsampled binary PLY) was built from the first session by my mapping stack; the recording to localize (~65 s indoor walk) is the second. ref_keyframes.txt holds the second session's SLAM keyframe poses, ICP-aligned into the map frame, as a reference trajectory. Download via tools/get_example_data.sh.